3 papers
cs.LG2026
Reference-Sampled Boltzmann Projection for KL-Regularized RLVR: Target-Matched Weighted SFT, Finite One-Shot Gaps, and Policy Mirror Descent
Yao Shu, Chenxing Wei, Hongbin Lin +2
Online reinforcement learning with verifiable rewards (RLVR) turns checkable outcomes into a scalable training signal, but it keeps rollout generation, verifier scoring, and refere…
cs.RO2025
Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulation
Hongbin Lin, Juan Rojas, Kwok Wai Samuel Au
Sampling efficiency is critical for deploying visuomotor learning in real-world robotic manipulation. While task symmetry has emerged as a promising inductive bias to improve effic…
cs.RO2025
Visuomotor Grasping with World Models for Surgical Robots
Hongbin Lin, Bin Li, Kwok Wai Samuel Au
Grasping is a fundamental task in robot-assisted surgery (RAS), and automating it can reduce surgeon workload while enhancing efficiency, safety, and consistency beyond teleoperate…